CN113960575A - System and method for distinguishing ground and barrier based on ultrasonic radar - Google Patents
System and method for distinguishing ground and barrier based on ultrasonic radar Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52023—Details of receivers
- G01S7/52036—Details of receivers using analysis of echo signal for target characterisation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention discloses a system and a method for distinguishing ground and obstacles based on an ultrasonic radar, wherein the system comprises the following steps: the data receiving module is used for receiving the measurement echo information sent by the radar sensor receiving equipment; the waveform processing module is used for processing the waveform of the measurement echo received in the data receiving module; the waveform checking module is used for carrying out waveform checking on the echo waveform information after passing through the waveform processing module based on sample echo waveform information prestored in the system; the curve deviation matching module is used for carrying out doubting on the obstacle echo of the detected echo; the data updating module is used for receiving the supplementary collection obtained in the second echo verification to update data; a method for distinguishing the ground from the obstacles based on the ultrasonic radar is also provided for better realizing the functions of the system.
Description
Technical Field
The invention relates to the technical field of radar data processing, in particular to a system and a method for distinguishing ground and obstacles based on an ultrasonic radar.
Background
The existing ultrasonic system judges whether obstacles exist or not by looking at whether echo meets the conditions or not; when the installation height of the ultrasonic radar sensor is too low or the angle is too large, reflected waves of the ground are easy to receive, and because no effective method is available for distinguishing ground echoes from obstacle echoes, false alarm can be caused when no obstacle exists frequently; often, only a relatively high installation height and a relatively large upper elevation angle can be selected on the installation arrangement of the sensor to avoid the reflection to the ground as much as possible; thus, there are many limitations in the installation arrangement, such as limited styling (e.g., the face of the bumper cannot be designed flat), and reduced detection of short obstacles.
Disclosure of Invention
The present invention is directed to a system and method for distinguishing a ground from an obstacle based on an ultrasonic radar, so as to solve the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: a system for distinguishing between ground and obstacles based on ultrasonic radar, the system comprising: the device comprises a data receiving module, a waveform processing module, a waveform checking module, a curve deviation matching module and a data updating module;
the data receiving module is used for receiving the measurement echo information sent by the radar sensor receiving equipment;
the waveform processing module is used for processing the waveform of the measurement echo received in the data receiving module;
the waveform checking module is used for carrying out waveform checking on the echo waveform information after passing through the waveform processing module based on sample echo waveform information stored in the system in advance, and the waveform checking comprises first echo checking and second echo checking;
the curve deviation matching module is used for carrying out obstacle doubting on the detected echo again based on the result of the suspected obstacle echo obtained in the first echo verification to obtain a second feedback result, and the second feedback result comprises the obstacle-free echo and the obstacle echo which needs to be doubted; the curve deviation matching module sends the received detection echo needing to be doubted about the obstacle echo to the waveform verification module for second echo verification;
a data update module; and the device is used for receiving the supplementary collection obtained in the second echo verification and updating the data of the echo information obtained in the waveform processing module by the supplementary collection.
Further, the waveform processing module comprises a preprocessing unit, an attribute collection computing unit and an attribute curve computing unit;
the preprocessing unit is used for preprocessing the waveform of the measurement echo received from the data receiving module, and the preprocessing comprises smoothing, noise reduction and discretization; the attribute collection calculating unit is used for receiving the preprocessed echo information and obtaining an echo attribute collection consisting of an echo time difference delta T collection and an echo peak value difference delta P collection based on the echo information; and the attribute curve calculating unit is used for performing curve fitting calculation on the data in the echo attribute set to obtain an attribute curve.
Further, the waveform checking module comprises a first echo checking unit and a second echo checking unit;
the first echo checking unit is used for performing first echo checking on the waveform information received from the waveform processing module, and the first echo checking result comprises an obstacle echo, a suspected obstacle echo and a barrier-free echo; the second echo checking unit is used for carrying out second echo checking on the waveform information received in the curve deviation matching module; the second echo check verification result comprises the determination of obstacle echo and obstacle-free echo.
Furthermore, the curve deviation matching module comprises a graphic processing unit and a curve deviation rate calculating unit;
the image processing unit is used for drawing a superposed image of the attribute curve in the detection mode and the sample echo attribute curve; and the curve deviation ratio calculation unit is used for receiving the longest vertical distance data of the superposed images obtained from the image processing unit and calculating the curve deviation ratio between the attribute curve and the sample echo attribute curve in the detection mode.
In order to better realize the functions of the system, a method for distinguishing the ground from the obstacles based on the ultrasonic radar is also provided, and the method comprises the following steps:
step S100: the method comprises the steps that equipment provided with an ultrasonic radar sensor is subjected to barrier-free measurement on a road surface where the equipment works normally based on the installation height and the installation angle of the current sensor to obtain measurement echoes; pavement surfaces include, but are not limited to, cement pavement, asphalt pavement, gravel pavement;
step S200: the system receives the measured echoes, and respectively carries out waveform processing on the measured echoes to obtain an attribute collection of a sample echo image;
step S300: from the beginning of putting the equipment into the obstacle detection formally, the system collects echoes in the same period according to the detection period of the equipment; carrying out first echo verification on the collected detection echo information based on attribute collection information of the sample echo image to obtain a first feedback result of obstacle detection; the first feedback result comprises an obstacle echo, a suspected obstacle echo and a barrier-free echo;
step S400: when the preliminary feedback result shows that no obstacle exists, filtering the echo information collected in the step S300; when the preliminary feedback result shows that an obstacle exists, a warning signal is sent out; when the preliminary feedback result shows that the suspected obstacle exists, performing curve deviation matching on the echo information of the suspected obstacle based on attribute collection information of the sample echo image to perform suspicion on the obstacle again to obtain a secondary feedback result, wherein the secondary feedback result comprises obstacle-free echoes and the suspicion of the obstacle echoes;
step S500: performing second echo verification on the basis of a feedback result requiring to disambiguate the obstacle echo to obtain a third feedback result of obstacle detection; the third feedback result comprises an obstacle-free echo and a determined obstacle echo;
step S600: and performing collection supplement and updating on the attribute collection of the sample echo image based on the third feedback result.
Further, the step S200 of respectively performing waveform processing on the measurement echoes includes:
step S202: obtaining corresponding delta T set and delta P set by solving interval difference values between each echo time T and each echo peak value P in each detection period and the previous echo time T and each echo peak value P;
step S203: establishing a corresponding mapping relation between each delta T and each delta P between the delta T set and the delta P set to obtain a set consisting of the delta T and the delta P, and using the set as an attribute set of sample echoes in the detection period;
step S204: recording each attribute information in the attribute collection of the sample echo as an independent variable, and a dependent variable, in the form of (x)i，yi) (ii) a i denotes the number of detections, xiRepresents the DeltaT obtained by the ith detection in the detection period; y isiRepresents the DeltaP obtained by the ith detection in the detection period; data (x) to be recordedi，yi) Carrying out curve fitting calculation to obtain an attribute curve;
the preprocessing of smoothing and noise reduction is carried out on the waveform line firstly, so that the noise interference suffered by receiving equipment when receiving an echo image is filtered out as accurately as possible by the output waveform; the contour extraction and discretization processing of the graph are to make the echo time T and the echo peak value P of the extracted measuring echo accurate and to better calculate the data in the delta T set and the delta P set; the ground echo has irregularity, the obstacle echo has regularity, and the regularity of the echo can be well reflected by taking a (delta T, delta P) collection as an attribute collection of the echo and obtaining an attribute curve based on the attribute collection.
Further, the performing a first echo check based on the collected detection echo information in step S300 includes:
step S301: performing waveform processing on the collected echo information based on the waveform processing step in the step S200 to obtain a detected echo attribute set and a detected echo attribute curve;
step S302: calculating the deviation between the delta T and the delta P in the detected echo attribute set and the delta T and the delta P in the sample echo image attribute set to obtain a delta T difference set delta T 'and a delta P difference set delta P';
step S303: when the probability value smaller than the preset echo time difference interval in the delta T 'is smaller than a certain value x% and the probability value smaller than the preset echo peak value difference interval in the delta P' is smaller than a certain value y%, the obstacle-free echo is fed back; when the probability value smaller than the preset echo time difference interval in the delta T 'is larger than a certain value x% and the probability value smaller than the preset echo peak value difference interval in the delta P' is larger than a certain value y%, the obstacle echo is fed back; when the probability value smaller than a preset difference value interval appears in one difference value set of the delta T 'or the delta P' is larger than the probability value, the back wave is fed back as a suspected obstacle back wave; carrying out curve deviation matching on the attribute curve in the detection mode and the attribute curve of the sample echo; wherein x ∈ (0, 100), y ∈ (0, 100);
and the first echo verification is to pair according to the data distribution rule among the echo attribute collections to complete the first echo verification of the detected echoes.
Further, the curve deviation matching step in step S400 includes:
step S401: drawing the attribute curve and the sample echo attribute curve in the detection mode into a superposed image, and capturing a junction on the superposed image;
step S402: sequentially connecting line segments between every two nearest adjacent intersection points to form an assembly connecting line segment a; capturing the longest vertical distance of a closed graph formed by the two most adjacent junction points;
step S403: when the longest vertical distance is larger than the preset vertical distance, marking the line segment between the two most adjacent intersection points; accumulating the total length of the marked line segment as b, and taking the occupation ratio P of the marked line segment as a curve deviation ratio P which is b/a;
step S404: when the curve deviation rate P is larger than a preset deviation threshold value, the feedback indicates that the obstacle echo needs to be doubted; when the curve deviation ratio P is smaller than the preset deviation, the curve deviation ratio P is fed back as an obstacle-free echo;
the process is to carry out the suspicion and confirmation on the obstacle again under the condition that the echo information of the suspected obstacle obtained in the first echo check is based on the attribute curve, so that the condition that no obstacle is reported in a wrong way or the obstacle is reported in a missing way can be effectively reduced, and the detection precision of the obstacle is improved.
Further, the second echo check in step S500 includes:
step S501, extracting echo time from echo information which is fed back to ask for an obstacle echo, and simulating according to a formula to obtain an obstacle distance S-T x c/2, wherein c represents the propagation speed of ultrasonic waves in the air, and T represents the corresponding echo time when a minimum difference delta T' is obtained;
step S502: obtaining corresponding Delta S collections by solving interval difference values between the obstacle distance S obtained by simulation under each echo time T and echo peak value P and the obstacle distance S obtained by simulation under the previous echo time T and echo peak value P in each detection period; using the delta S obtained by carrying out suspicion calculation on the obstacle echo for the first time as a first supplementary collection of an attribute collection of a sample echo image;
step S503: performing deviation calculation on data in the Delta S collection of the detected echoes and data in the primary supplementary collection in the sample echo image attribute collection to obtain a difference collection Delta S' of the Delta S;
step S504: when the probability value smaller than the preset echo time difference value interval appears in the delta S' is larger than a certain value x%, the probability value is fed back to determine the obstacle echo; when the probability value smaller than the preset echo time difference value interval appears in the delta S' and is smaller than a certain value x%, an obstacle-free echo is fed back; wherein x ∈ (0, 100);
and the second echo check checks whether the echo information belongs to the echo of the barrier or not by calculating and processing the echo information to obtain a new distance attribute set, so that the ground echo and the echo of the barrier are effectively distinguished.
Further, the step S600 of performing ensemble supplementation on the sample echo images means that Δ S data obtained in the second echo verification is stored, Δ S is added to the primary supplementary ensemble, and data supplementation and updating are performed on the primary supplementary ensemble;
the detection of the ultrasonic radar on the obstacle is different from the phenomenon of confusion echo between ground echoes due to different heights or other characteristics of the obstacle, so that the accuracy of echo verification is improved by performing echo matching on the attribute set with a distance added to the attribute set, and real-time data supplement and data update are performed on the measured echo information acquired in the step S100 by continuously adding deltaS into the primary supplement set.
Compared with the prior art, the invention has the following beneficial effects: the invention can effectively distinguish the ground echo and the obstacle echo, and reduce false alarm when no obstacle appears; the limitation on the installation height and the installation angle of the sensor can be reduced by carrying out graphic processing analysis on the received echo graphic; and the detection performance of short obstacles can be improved through a lower installation position.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a system for distinguishing between ground and obstacles based on an ultrasonic radar according to the present invention;
fig. 2 is a flow chart of a method for distinguishing the ground from obstacles based on an ultrasonic radar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides the following technical solutions: a system for distinguishing between ground and obstacles based on ultrasonic radar, the system comprising: the device comprises a data receiving module, a waveform processing module, a waveform checking module, a curve deviation matching module and a data updating module;
the data receiving module is used for receiving the measurement echo information sent by the radar sensor receiving equipment;
the waveform processing module is used for processing the waveform of the measurement echo received in the data receiving module;
the waveform processing module comprises a preprocessing unit, an attribute collection computing unit and an attribute curve computing unit;
the preprocessing unit is used for preprocessing the waveform of the measurement echo received from the data receiving module, and the preprocessing comprises smoothing, noise reduction and discretization; the attribute collection calculating unit is used for receiving the preprocessed echo information and obtaining an echo attribute collection consisting of an echo time difference delta T collection and an echo peak value difference delta P collection based on the echo information; the attribute curve calculation unit is used for carrying out curve fitting calculation on the data in the echo attribute set to obtain an attribute curve;
the waveform checking module is used for carrying out waveform checking on the echo waveform information after passing through the waveform processing module based on sample echo waveform information stored in the system in advance, and the waveform checking comprises first echo checking and second echo checking;
the waveform checking module comprises a first echo checking unit and a second echo checking unit;
the first echo checking unit is used for performing first echo checking on the waveform information received from the waveform processing module, and the first echo checking result comprises an obstacle echo, a suspected obstacle echo and a barrier-free echo; the second echo checking unit is used for carrying out second echo checking on the waveform information received in the curve deviation matching module; the second echo check and verification result comprises obstacle echoes which need to be doubted and are free of obstacles;
the curve deviation matching module is used for carrying out obstacle doubting on the detected echo again based on the result of the suspected obstacle echo obtained in the first echo verification to obtain a second feedback result, and the second feedback result comprises the obstacle-free echo and the obstacle echo which needs to be doubted; the curve deviation matching module sends the received detection echo needing to be doubted about the obstacle echo to the waveform verification module for second echo verification;
the curve deviation matching module comprises a graphic processing unit and a curve deviation rate calculating unit;
the image processing unit is used for drawing a superposed image of the attribute curve in the detection mode and the sample echo attribute curve; the curve deviation ratio calculation unit is used for receiving the longest vertical distance data of the superposed images obtained from the image processing unit and calculating the curve deviation ratio between the attribute curve and the sample echo attribute curve in the detection mode;
a data update module; the device is used for receiving the supplementary collection obtained in the second echo verification and updating the data of the echo information obtained in the waveform processing module by the supplementary collection;
in order to better realize the functions of the system, a method for distinguishing the ground from the obstacles based on the ultrasonic radar is also provided, and the method comprises the following steps:
step S100: the method comprises the steps that equipment provided with an ultrasonic radar sensor is subjected to barrier-free measurement on a road surface where the equipment works normally based on the installation height and the installation angle of the current sensor to obtain measurement echoes; pavement surfaces include, but are not limited to, cement pavement, asphalt pavement, gravel pavement;
step S200: the system receives the measured echoes, and respectively carries out waveform processing on the measured echoes to obtain an attribute collection of a sample echo image;
wherein, the step S200 of respectively performing waveform processing on the measurement echoes includes:
step S201: smoothing and denoising each measured echo in a detection period to obtain an echo waveform image profile, and discretizing the extracted echo waveform image profile; extracting echo time T and echo peak value P of the measured echo from the waveform information after discretization processing;
step S202: obtaining corresponding delta T set and delta P set by solving interval difference values between each echo time T and each echo peak value P in each detection period and the previous echo time T and each echo peak value P;
step S203: establishing a corresponding mapping relation between each delta T and each delta P between the delta T set and the delta P set to obtain a set consisting of the delta T and the delta P, and using the set as an attribute set of sample echoes in the detection period;
step S204: recording each attribute information in the attribute collection of the sample echo as an independent variable, and a dependent variable, in the form of (x)i，yi) (ii) a i denotes the number of detections, xiRepresents the DeltaT obtained by the ith detection in the detection period; y isiRepresents the DeltaP obtained by the ith detection in the detection period; data (x) to be recordedi，yi) Carrying out curve fitting calculation to obtain an attribute curve;
step S300: from the beginning of putting the equipment into the obstacle detection formally, the system collects echoes in the same period according to the detection period of the equipment; carrying out first echo verification on the collected detection echo information based on attribute collection information of the sample echo image to obtain a first feedback result of obstacle detection; the first feedback result comprises an obstacle echo, a suspected obstacle echo and a barrier-free echo;
wherein, the first echo check comprises:
step S301: performing waveform processing on the collected echo information based on the waveform processing step in the step S200 to obtain a detected echo attribute set and a detected echo attribute curve;
step S302: calculating the deviation between the delta T and the delta P in the detected echo attribute set and the delta T and the delta P in the sample echo image attribute set to obtain a delta T difference set delta T 'and a delta P difference set delta P';
step S303: when the probability value smaller than the preset echo time difference interval in the delta T 'is smaller than a certain value x% and the probability value smaller than the preset echo peak value difference interval in the delta P' is smaller than a certain value y%, the obstacle-free echo is fed back; when the probability value smaller than the preset echo time difference interval in the delta T 'is larger than a certain value x% and the probability value smaller than the preset echo peak value difference interval in the delta P' is larger than a certain value y%, the obstacle echo is fed back; when the probability value smaller than a preset difference value interval appears in one difference value set of the delta T 'or the delta P' is larger than the probability value, the back wave is fed back as a suspected obstacle back wave; carrying out curve deviation matching on the attribute curve in the detection mode and the attribute curve of the sample echo; wherein x ∈ (0, 100), y ∈ (0, 100);
step S400: when the preliminary feedback result shows that no obstacle exists, filtering the echo information collected in the step S300; when the preliminary feedback result shows that an obstacle exists, a warning signal is sent out; when the preliminary feedback result shows that the suspected obstacle exists, curve deviation matching is carried out on the echo information of the suspected obstacle based on attribute set information of the sample echo image, and obstacle echoes are subjected to suspicion elimination confirmation to obtain a second feedback result, wherein the second feedback result comprises obstacle-free echoes and obstacle echoes which need to be doubted;
wherein the step of curve deviation matching comprises:
step S401: drawing the attribute curve and the sample echo attribute curve in the detection mode into a superposed image, and capturing a junction on the superposed image;
step S402: sequentially connecting line segments between every two nearest adjacent intersection points to form an assembly connecting line segment a; capturing the longest vertical distance of a closed graph formed by the two most adjacent junction points;
step S403: when the longest vertical distance is larger than the preset vertical distance, marking the line segment between the two most adjacent intersection points; accumulating the total length of the marked line segment as b, and taking the occupation ratio P of the marked line segment as a curve deviation ratio P which is b/a;
step S404: when the curve deviation rate P is larger than a preset deviation threshold value, the feedback indicates that the obstacle echo needs to be doubted; when the curve deviation ratio P is smaller than the preset deviation, the curve deviation ratio P is fed back as an obstacle-free echo;
step S500: performing second echo verification on the basis of a feedback result requiring to disambiguate the obstacle echo to obtain a third feedback result of obstacle detection; the third feedback result comprises an obstacle-free echo and a determined obstacle echo;
wherein the second echo check comprises:
step S501, extracting echo time from echo information which is fed back to ask for an obstacle echo, and simulating according to a formula to obtain an obstacle distance S-T x c/2, wherein c represents the propagation speed of ultrasonic waves in the air, and T represents the corresponding echo time when a minimum difference delta T' is obtained;
step S502: obtaining corresponding Delta S collections by solving interval difference values between the obstacle distance S obtained by simulation under each echo time T and echo peak value P and the obstacle distance S obtained by simulation under the previous echo time T and echo peak value P in each detection period; using the delta S obtained by carrying out suspicion calculation on the obstacle echo for the first time as a first supplementary collection of an attribute collection of a sample echo image;
step S503: performing deviation calculation on data in the Delta S collection of the detected echoes and data in the primary supplementary collection in the sample echo image attribute collection to obtain a difference collection Delta S' of the Delta S;
step S504: when the probability value smaller than the preset echo time difference value interval appears in the delta S' is larger than a certain value x%, the probability value is fed back to determine the obstacle echo; when the probability value smaller than the preset echo time difference value interval appears in the delta S' and is smaller than a certain value x%, an obstacle-free echo is fed back; wherein x ∈ (0, 100);
step S600: performing collection supplement and update on the attribute collection of the sample echo image based on the third feedback result means that: and storing the Delta S data obtained in the second echo verification, adding the Delta S into the primary supplementary set, and supplementing and updating the data of the primary supplementary set.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A system for distinguishing between ground and obstacles based on ultrasonic radar, the system comprising: the device comprises a data receiving module, a waveform processing module, a waveform checking module, a curve deviation matching module and a data updating module;
the data receiving module is used for receiving the measurement echo information sent by the radar sensor receiving equipment;
the waveform processing module is used for processing the waveform of the measurement echo received in the data receiving module;
the waveform checking module is used for carrying out waveform checking on the echo waveform information after passing through the waveform processing module based on sample echo waveform information stored in a system in advance, and the waveform checking comprises a first echo checking and a second echo checking;
the curve deviation matching module performs obstacle doubting on the detected echo again based on the result of the suspected obstacle echo obtained in the first echo verification to obtain a second feedback result, wherein the second feedback result comprises a barrier-free echo and a need of doubting the obstacle echo; the curve deviation matching module sends the received detection echo which needs to be doubted about the obstacle echo to the waveform verification module for second echo verification;
the data updating module; and the device is used for receiving the supplementary collection obtained in the second echo verification and updating the data of the echo information obtained in the waveform processing module by the supplementary collection.
2. The system for distinguishing the ground from the obstacles based on the ultrasonic radar as claimed in claim 1, wherein the waveform processing module comprises a preprocessing unit, an attribute set calculating unit and an attribute curve calculating unit;
the preprocessing unit is used for performing waveform preprocessing on the measurement echo received from the data receiving module, and the preprocessing comprises smoothing, noise reduction and discretization processing; the attribute collection calculating unit is used for receiving the preprocessed echo information and obtaining an echo attribute collection consisting of an echo time difference delta T collection and an echo peak value difference delta P collection based on the echo information; and the attribute curve calculating unit is used for carrying out curve fitting calculation on the data in the echo attribute set to obtain an attribute curve.
3. The system for distinguishing between ground and obstacles based on an ultrasonic radar as claimed in claim 1, wherein the waveform verification module comprises a first echo verification unit and a second echo verification unit;
the first echo checking unit is used for performing first echo checking on the waveform information received from the waveform processing module, and a first echo checking result comprises an obstacle echo, a suspected obstacle echo and a barrier-free echo; the second echo checking unit is used for performing second echo checking on the waveform information received in the curve deviation matching module; the second echo check verification result comprises the determination of obstacle echo and obstacle-free echo.
4. The system for distinguishing the ground from the obstacles based on the ultrasonic radar as claimed in claim 1, wherein the curve deviation matching module comprises a graphic processing unit, a curve deviation ratio calculation unit;
the graphic processing unit is used for drawing a superposed image of the attribute curve in the detection mode and the sample echo attribute curve; and the curve deviation ratio calculation unit is used for receiving the longest vertical distance data of the superposed images obtained from the image processing unit and calculating the curve deviation ratio between the attribute curve and the sample echo attribute curve in the detection mode.
5. A method for distinguishing the ground from obstacles based on an ultrasonic radar is characterized in that: the method comprises the following steps:
step S100: the method comprises the steps that equipment provided with an ultrasonic radar sensor is subjected to barrier-free measurement on a road surface where the equipment works normally based on the installation height and the installation angle of the current sensor to obtain measurement echoes; the pavement includes but is not limited to cement pavement, asphalt pavement, gravel pavement;
step S200: the system receives the measurement echoes, and respectively carries out waveform processing on the measurement echoes to obtain an attribute collection of a sample echo image;
step S300: from the beginning of putting equipment into the normal operation for obstacle detection, the system collects echoes in the same period according to the detection period of the equipment; carrying out first echo verification on the collected detection echo information based on attribute collection information of the sample echo image to obtain a first feedback result of obstacle detection; the first feedback result comprises an obstacle echo, a suspected obstacle echo and a barrier-free echo;
step S400: when the preliminary feedback result shows that no obstacle exists, filtering the echo information collected in the step S300; when the preliminary feedback result shows that an obstacle exists, sending a warning signal; when the preliminary feedback result shows that the suspected obstacle exists, curve deviation matching is carried out on the echo information of the suspected obstacle based on attribute collection information of a sample echo image, and obstacle echoes are subjected to suspicion elimination confirmation to obtain a second feedback result, wherein the second feedback result comprises no obstacle echoes and the obstacle echoes need to be suspicion elimination;
step S500: performing second echo verification on the basis of a feedback result requiring to disambiguate the obstacle echo to obtain a third feedback result of obstacle detection; the third feedback result comprises an obstacle-free echo and a determined obstacle echo;
step S600: and performing collection supplement and update on the attribute collection of the sample echo image based on the third feedback result.
6. The method of claim 5, wherein the step S200 of processing the measured echoes respectively into waveforms comprises:
step S201: smoothing and denoising each measured echo in a detection period to obtain an echo waveform image profile, and discretizing the extracted echo waveform image profile; extracting echo time T and echo peak value P of the measured echo from the waveform information after discretization processing;
step S202: obtaining corresponding delta T set and delta P set by solving interval difference values between each echo time T and each echo peak value P in each detection period and the previous echo time T and each echo peak value P;
step S203: establishing a corresponding mapping relation between each delta T and each delta P between the delta T set and the delta P set to obtain a set consisting of delta T and delta P, and using the set as an attribute set of sample echoes in the detection period;
step S204: recording each attribute information in the attribute collection of the sample echo as an independent variable with Δ T and a dependent variable with Δ P in the form of (x)i，yi) (ii) a i denotes the number of detections, xiRepresents the DeltaT obtained by the ith detection in the detection period; y isiRepresents the DeltaP obtained by the ith detection in the detection period; data (x) to be recordedi，yi) Performing curve fitting calculationAnd obtaining an attribute curve.
7. The method of claim 5, wherein the performing of the first echo check based on the collected detection echo information in step S300 comprises:
step S301: performing waveform processing on the collected echo information based on the waveform processing step in the step S200 to obtain a detected echo attribute set and a detected echo attribute curve;
step S302: calculating the deviation between the delta T and the delta P in the detected echo attribute set and the delta T and the delta P in the sample echo image attribute set to obtain a delta T difference set delta T 'and a delta P difference set delta P';
step S303: when the probability value smaller than the preset echo time difference interval in the delta T 'is smaller than a certain value x% and the probability value smaller than the preset echo peak value difference interval in the delta P' is smaller than a certain value y%, the obstacle-free echo is fed back; when the probability value smaller than the preset echo time difference interval in the delta T 'is larger than a certain value x% and the probability value smaller than the preset echo peak value difference interval in the delta P' is larger than a certain value y%, the obstacle echo is fed back; when the probability value smaller than a preset difference value interval appears in one difference value set of the delta T 'or the delta P' is larger than the probability value, the back wave is fed back as a suspected obstacle back wave; carrying out curve deviation matching on the attribute curve in the detection mode and the attribute curve of the sample echo; wherein x ∈ (0, 100), and y ∈ (0, 100).
8. The method for distinguishing the ground from the obstacle based on the ultrasonic radar as claimed in claim 5, wherein the curve deviation matching step in the step S400 comprises:
step S401: drawing an attribute curve and a sample echo attribute curve under a detection mode into a superposed image, and capturing a junction on the superposed image;
step S402: sequentially connecting line segments between every two nearest adjacent intersection points to form an assembly connecting line segment a; capturing the longest vertical distance of a closed graph formed by the two most adjacent junction points;
step S403: when the longest vertical distance is larger than a preset vertical distance, marking a line segment between the two most adjacent intersection points; accumulating the total length of the marked line segment as b, and taking the occupation ratio P of the marked line segment as a curve deviation ratio P which is b/a;
step S404: when the curve deviation rate P is larger than a preset deviation threshold value, the feedback indicates that the echo of the obstacle needs to be doubted; and feeding back the curve deviation rate P as an obstacle-free echo when the curve deviation rate P is smaller than a preset deviation.
9. The method of claim 8, wherein the second echo verification in step S500 comprises:
step S501, extracting echo time from echo information which is fed back to ask for an obstacle echo, and simulating according to a formula to obtain an obstacle distance S-T x c/2, wherein c represents the propagation speed of ultrasonic waves in the air, and T represents the corresponding echo time when a minimum difference delta T' is obtained;
step S502: obtaining corresponding Delta S collections by solving interval difference values between the obstacle distance S obtained by simulation under each echo time T and echo peak value P and the obstacle distance S obtained by simulation under the previous echo time T and echo peak value P in each detection period; using the delta S obtained by carrying out suspicion calculation on the obstacle echo for the first time as a first supplementary collection of an attribute collection of a sample echo image;
step S503: performing deviation calculation on data in the Delta S collection of the detected echoes and data in the primary supplementary collection in the sample echo image attribute collection to obtain a difference collection Delta S' of the Delta S;
step S504: when the probability value smaller than the preset echo time difference value interval appears in the delta S' is larger than a certain value x%, the probability value is fed back to determine the obstacle echo; when the probability value smaller than the preset echo time difference value interval appears in the delta S' and is smaller than a certain value x%, an obstacle-free echo is fed back; wherein x ∈ (0, 100).
10. The method of claim 7, wherein the step S600 of collecting and supplementing the sample echo images includes storing Δ S data obtained from the second echo check, adding Δ S to the primary supplementary collection, and performing data supplement and update on the primary supplementary collection.
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| CN116679291B (en) * | 2023-07-27 | 2023-11-03 | 北京宏景智驾科技有限公司 | False alarm prevention control method and device for ultrasonic radar and computer readable storage medium |
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